Blender V2.61 - r43446

btMultiSapBroadphase.h

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00001 /*
00002 Bullet Continuous Collision Detection and Physics Library
00003 Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
00004 
00005 This software is provided 'as-is', without any express or implied warranty.
00006 In no event will the authors be held liable for any damages arising from the use of this software.
00007 Permission is granted to anyone to use this software for any purpose, 
00008 including commercial applications, and to alter it and redistribute it freely, 
00009 subject to the following restrictions:
00010 
00011 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
00012 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
00013 3. This notice may not be removed or altered from any source distribution.
00014 */
00015 #ifndef BT_MULTI_SAP_BROADPHASE
00016 #define BT_MULTI_SAP_BROADPHASE
00017 
00018 #include "btBroadphaseInterface.h"
00019 #include "LinearMath/btAlignedObjectArray.h"
00020 #include "btOverlappingPairCache.h"
00021 
00022 
00023 class btBroadphaseInterface;
00024 class btSimpleBroadphase;
00025 
00026 
00027 typedef btAlignedObjectArray<btBroadphaseInterface*> btSapBroadphaseArray;
00028 
00035 class btMultiSapBroadphase :public btBroadphaseInterface
00036 {
00037     btSapBroadphaseArray    m_sapBroadphases;
00038     
00039     btSimpleBroadphase*     m_simpleBroadphase;
00040 
00041     btOverlappingPairCache* m_overlappingPairs;
00042 
00043     class btQuantizedBvh*           m_optimizedAabbTree;
00044 
00045 
00046     bool                    m_ownsPairCache;
00047     
00048     btOverlapFilterCallback*    m_filterCallback;
00049 
00050     int         m_invalidPair;
00051 
00052     struct  btBridgeProxy
00053     {
00054         btBroadphaseProxy*      m_childProxy;
00055         btBroadphaseInterface*  m_childBroadphase;
00056     };
00057 
00058 
00059 public:
00060 
00061     struct  btMultiSapProxy : public btBroadphaseProxy
00062     {
00063 
00065         btAlignedObjectArray<btBridgeProxy*> m_bridgeProxies;
00066         btVector3   m_aabbMin;
00067         btVector3   m_aabbMax;
00068 
00069         int m_shapeType;
00070 
00071 /*      void*   m_userPtr;
00072         short int   m_collisionFilterGroup;
00073         short int   m_collisionFilterMask;
00074 */
00075         btMultiSapProxy(const btVector3& aabbMin,  const btVector3& aabbMax,int shapeType,void* userPtr, short int collisionFilterGroup,short int collisionFilterMask)
00076             :btBroadphaseProxy(aabbMin,aabbMax,userPtr,collisionFilterGroup,collisionFilterMask),
00077             m_aabbMin(aabbMin),
00078             m_aabbMax(aabbMax),
00079             m_shapeType(shapeType)
00080         {
00081             m_multiSapParentProxy =this;
00082         }
00083 
00084         
00085     };
00086 
00087 protected:
00088 
00089 
00090     btAlignedObjectArray<btMultiSapProxy*> m_multiSapProxies;
00091 
00092 public:
00093 
00094     btMultiSapBroadphase(int maxProxies = 16384,btOverlappingPairCache* pairCache=0);
00095 
00096 
00097     btSapBroadphaseArray&   getBroadphaseArray()
00098     {
00099         return m_sapBroadphases;
00100     }
00101 
00102     const btSapBroadphaseArray& getBroadphaseArray() const
00103     {
00104         return m_sapBroadphases;
00105     }
00106 
00107     virtual ~btMultiSapBroadphase();
00108 
00109     virtual btBroadphaseProxy*  createProxy(  const btVector3& aabbMin,  const btVector3& aabbMax,int shapeType,void* userPtr, short int collisionFilterGroup,short int collisionFilterMask, btDispatcher* dispatcher,void* multiSapProxy);
00110     virtual void    destroyProxy(btBroadphaseProxy* proxy,btDispatcher* dispatcher);
00111     virtual void    setAabb(btBroadphaseProxy* proxy,const btVector3& aabbMin,const btVector3& aabbMax, btDispatcher* dispatcher);
00112     virtual void    getAabb(btBroadphaseProxy* proxy,btVector3& aabbMin, btVector3& aabbMax ) const;
00113 
00114     virtual void    rayTest(const btVector3& rayFrom,const btVector3& rayTo, btBroadphaseRayCallback& rayCallback,const btVector3& aabbMin=btVector3(0,0,0),const btVector3& aabbMax=btVector3(0,0,0));
00115 
00116     void    addToChildBroadphase(btMultiSapProxy* parentMultiSapProxy, btBroadphaseProxy* childProxy, btBroadphaseInterface*    childBroadphase);
00117 
00119     virtual void    calculateOverlappingPairs(btDispatcher* dispatcher);
00120 
00121     bool    testAabbOverlap(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1);
00122 
00123     virtual btOverlappingPairCache* getOverlappingPairCache()
00124     {
00125         return m_overlappingPairs;
00126     }
00127     virtual const btOverlappingPairCache*   getOverlappingPairCache() const
00128     {
00129         return m_overlappingPairs;
00130     }
00131 
00134     virtual void getBroadphaseAabb(btVector3& aabbMin,btVector3& aabbMax) const
00135     {
00136         aabbMin.setValue(-BT_LARGE_FLOAT,-BT_LARGE_FLOAT,-BT_LARGE_FLOAT);
00137         aabbMax.setValue(BT_LARGE_FLOAT,BT_LARGE_FLOAT,BT_LARGE_FLOAT);
00138     }
00139 
00140     void    buildTree(const btVector3& bvhAabbMin,const btVector3& bvhAabbMax);
00141 
00142     virtual void    printStats();
00143 
00144     void quicksort (btBroadphasePairArray& a, int lo, int hi);
00145 
00147     virtual void resetPool(btDispatcher* dispatcher);
00148 
00149 };
00150 
00151 #endif //BT_MULTI_SAP_BROADPHASE